Handling system for transporting, removing or inserting rod-like elements

Abstract

The invention relates to a handling system for transporting, removing or inserting rod-like elements from or into a storage frame, the rod-like elements, like smoking rods, serving for storing products, each having a sausage-shaped body and a loop for a pendulously storage of the products. The handling system comprises a robotic device with at least one robotic arm being movably in three dimensions, at least one gripping device for reversibly gripping the rod-like elements, wherein the gripping device is attached to the robotic arm of the robotic device. Moreover, a preventing unit for preventing uncontrolled movement of the products hanging up on the rod-like elements is provided.

The invention claimed is: 
     
       1. A handling system for transporting, removing or inserting rod-like elements from or into a storage frame, the rod-like elements configured for storing products, each having a sausage-shaped body and a loop configured for pendulous storage along one of the rod-like elements, the handling system comprising:
 a robotic device with at least one robotic arm movable in three dimensions, and 
 at least one gripping device for reversibly gripping the rod-like elements, wherein the gripping device is attached to the robotic arm of the robotic device, 
 where the robotic device is provided with a preventing unit configured to prevent uncontrolled movement of the products pendulously hanging from one of the rod-like elements, where the preventing unit is configured to be transported by the handling system with one of the rod-like elements. 
 
     
     
       2. The handling system according to  claim 1 ,
 where the preventing unit is at least adjustably in its vertical height. 
 
     
     
       3. The handling system according to  claim 1 ,
 where the preventing unit includes a first preventing element wherein the first preventing element comprises openings positioned on a bump bar, the openings being configured to engage the products. 
 
     
     
       4. The handling system according to  claim 3 ,
 where the preventing unit comprises a second preventing element, the second preventing element being substantially U-shaped. 
 
     
     
       5. The handling system according to  claim 4 ,
 where the second preventing element is moveable between an in-operating position and an operating position in which the second preventing element engages the products. 
 
     
     
       6. The handling system according to  claim 1 ,
 where the gripping device comprises a first jaw being fixedly attached to the robotic device and a second jaw being pivotable around a pivot axis, the pivot axis being essentially parallel to the rod-like element. 
 
     
     
       7. The handling system according to  claim 6 ,
 where at least one jaw comprises a substantially L-shaped portion, each portion having an undercut. 
 
     
     
       8. The handling system according to  claim 6 ,
 where the second jaw is self-locking to prevent an unintentional movement of the jaw. 
 
     
     
       9. The handling system according to  claim 1  further comprising,
 a sensor device for monitoring an operating range of the handling system, the operating range being changed automatically during operation. 
 
     
     
       10. A gripping device suitable for use in a handling system, the gripping device comprising:
 a first jaw being fixedly attached to a robotic device and a second jaw being pivotable around a pivot axis, the pivot axis being essentially parallel to a rod-like element configured for storing products and having a sausage-shaped body and a loop configured for pendulous storage of the products along the rod-like element, and 
 a preventing unit configured to prevent uncontrolled movement of the products pendulously hanging from the rod-like element, where the preventing unit is configured to be transported by the handling system with the rod-like element.